지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2004.8
- 수록면
- 1,388 - 1,400 (13page)
이용수
초록· 키워드
오류제보하기
Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of
novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator.
To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (L VQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.
novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator.
To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (L VQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.
목차
Abstract
1. Introduction
2. Experimental Setup
3. Intelligent Switching Control Algorithm
4. Experiment Results
5. Conclusion
Acknowledgment
References
참고문헌 (24)
참고문헌 신청
[학술지(정기간행물)] - / 2003 / Design and experimental evaluation of a robust force controller for a 6-link electro-hydraulic manipulator via H infinity control theory 17 (7) : 999 ~ 1010
[학술지(정기간행물)] - / 2002 / Automatic assembly task of electric line using 6-link electro-hydraulic manipulators 16 (12) : 1633 ~ 1642
[학술지(정기간행물)] - / 2003 / Intelligent control of pneumatic actuator using LVQNN Symposium on Science and Technology : 260 ~ 266
[학술지(정기간행물)] - / 2003 / Fuzzy logic control of a pneumatic muscle system using a linearizing control scheme : 432 ~ 436
[학술지(정기간행물)] - / 2003 / Feedforward control of a non-linear pneumatic muscle system using fuzzy logic 1 : 272 ~ 277
[학술지(정기간행물)] - / 2002 / Automatic assembly task of electric line using 6-link electro-hydraulic manipulators 16 (12) : 1633 ~ 1642
[학술지(정기간행물)] - / 2003 / Intelligent control of pneumatic actuator using LVQNN Symposium on Science and Technology : 260 ~ 266
[학술지(정기간행물)] - / 2003 / Fuzzy logic control of a pneumatic muscle system using a linearizing control scheme : 432 ~ 436
[학술지(정기간행물)] - / 2003 / Feedforward control of a non-linear pneumatic muscle system using fuzzy logic 1 : 272 ~ 277
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UCI(KEPA) : I410-ECN-0101-2009-550-014428357